Method and system for automatically controlling a following vehicle with a scout vehicle

• US 9,874,877 B2
• Filed: 12/13/2016
• Issued: 01/23/2018
• Est. Priority Date: 12/15/2015
• Status: Active Grant

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Meinecke, Marc-Michael, Bartels, Arne, Junge, Lutz, Darms, Michael
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/377,579
• Publication Number:
  US 20170168505A1
• Time in Patent Office: 406 Days
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 60/00186 related to the vehicle
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/09675 where a selection from the received information takes place in the vehicle
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method and system for automatically controlling at least one following vehicle where a scout trajectory is produced for a scout vehicle and the scout vehicle is guided along an actual trajectory, the actual trajectory of the scout vehicle and scout environmental data is captured by scout sensors. A desired trajectory is produced for the following vehicle and following vehicle environmental data are captured by following vehicle sensors. A scout trajectory similarity is determined based on the scout trajectory produced and the captured actual trajectory, reference trajectory data are produced and reference environmental data are produced based on the scout environmental data. The reference trajectory data and the reference environmental data are transmitted to the following vehicle and a trajectory similarity is determined by a trajectory comparison based on the desired trajectory produced and the transmitted reference trajectory data.

Claims

1. A method for automatically controlling at least one following vehicle, the method comprising:

producing a scout trajectory for a scout vehicle;

guiding the scout vehicle along an actual trajectory, the actual trajectory of the scout vehicle and scout environmental data is captured by scout sensors;

producing a desired trajectory for the following vehicle and following vehicle environmental data are captured by following vehicle sensors;

determining a scout trajectory similarity based on the scout trajectory produced and the captured actual trajectory, reference trajectory data are produced and reference environmental data are produced based on the scout environmental data;

transmitting the reference trajectory data and the reference environmental data to the following vehicle;

determining a trajectory similarity by a trajectory comparison based on the desired trajectory produced and the transmitted reference trajectory data;

determining an environmental data similarity by an environmental data comparison based on the captured following vehicle environmental data and the transmitted reference environmental data, in which case;

in response to the trajectory similarity and/or the environment similarity exceeding a particular threshold value, automatic control of the following vehicle is activated, and

in response to the trajectory similarity and/or the environment similarity not exceeding a particular threshold value, a safe driving mode of the following vehicle is activated.

2. The method of claim 1, wherein

manual control of the following vehicle is activated in the safe driving mode of the following vehicle;

the following vehicle is guided along a substitute trajectory by a following vehicle driver and the substitute trajectory is captured by the following vehicle sensors;

the reference trajectory data is newly produced based on the captured substitute trajectory; and

the reference environmental data is newly produced based on the following vehicle environmental data.

3. The method of claim 1, wherein the scout vehicle is manually controlled along the actual trajectory by a scout driver.

4. The method of claim 1, wherein the reference trajectory data and/or the reference environmental data are also produced based on the desired trajectory and/or the following vehicle environmental data.

5. The method of claim 1, wherein the scout trajectory, the scout environmental data, the desired trajectory, the following vehicle environmental data, and/or the substitute trajectory are transmitted to an external server.

6. The method of claim 5, wherein the reference trajectory data and/or the reference environmental data are produced by the external server and are transmitted from the external server to the following vehicle.

7. The method of claim 6, wherein the reference trajectory data and/or the reference environmental data are also produced based on additional data.

8. The method of claim 1, wherein a following vehicle driver activates the safe driving mode of the following vehicle.

9. The method of claim 1, wherein image data are captured by the scout sensors and the following vehicle sensors.

10. The method of claim 9, wherein the scout trajectory and/or the desired trajectory is/are produced using an image processing system, the image processing system also determines a trajectory quality.

11. The method of claim 1, wherein the following vehicle receives a request signal and a driving mode as the scout vehicle is activated based on the request signal for the following vehicle.

12. A system for automatically controlling at least one following vehicle using a scout vehicle, the scout vehicle comprising:

a scout journey planner which produces a scout trajectory for the scout vehicle,

a scout control device which guides the scout vehicle along an actual trajectory, and

scout sensors which capture the actual trajectory of the scout vehicle and scout environmental data;

the following vehicle comprising;

a following vehicle journey planner which produces a desired trajectory for the following vehicle, following vehicle sensors which capture following vehicle environmental data, and a following vehicle control device which guides the following vehicle along the desired trajectory;

wherein

a computing unit produces reference trajectory data based on the actual trajectory of the scout vehicle and produces reference environmental data based on the scout environmental data,

the reference trajectory data and the reference environmental data are transmitted to the following vehicle,

the computing unit is used to determine a trajectory similarity by a trajectory comparison based on the desired trajectory produced and the transmitted reference trajectory data,

the computing unit is used to determine an environment similarity by an environmental data comparison based on the captured following vehicle environmental data and the transmitted reference environmental data, and

in response to the trajectory similarity and/or the environment similarity not exceeding a particular threshold value, the following vehicle control device activates a safe driving mode of the following vehicle.

13. The system of claim 12, wherein

manual control of the following vehicle is activated in the safe driving mode of the following vehicle,

the following vehicle is guided along a substitute trajectory by a following vehicle driver and the substitute trajectory is captured by the following vehicle sensors,

the reference trajectory data is newly produced based on the captured substitute trajectory, and

the reference environmental data is newly produced based on the following vehicle environmental data.

14. The system of claim 12, wherein the reference trajectory data and/or the reference environmental data is also produced based on the desired trajectory and/or the following vehicle environmental data.

15. The system of claim 12, wherein

the scout trajectory, the scout environmental data, the desired trajectory, the following vehicle environmental data, and/or the substitute trajectory are transmitted to an external server,

the reference trajectory data and/or the reference environmental data are produced by the external server, and are transmitted from the external server to the following vehicle.